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System for programming robots or similar automatic apparatuses, comprising a portable programming terminal

  • US 7,164,971 B2
  • Filed: 10/06/2003
  • Issued: 01/16/2007
  • Est. Priority Date: 10/04/2002
  • Status: Active Grant
First Claim
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1. A programming system for an automatic apparatus, bearing a tool, the system comprising a control unit, operative to control movements of the apparatus according to multiple axes, and a portable programming terminal operatively connected to the control unit, where the terminal comprisesselection means, able to be operated manually to select a desired co-ordinate system among a plurality of co-ordinate systems (“

  • Base, “

    Tool”

    ,“

    Joints”

    ) stored in the control;

    first motion control means whose operation depends on a selection made through the selection means, the first motion control means comprising a plurality of motion keys able to be operated manually to provide the control unit, with a respective command signal for the apparatus, the command signal being aimed at causing the tool to execute a rotation or a translation motion about or along an axis corresponding to the operated motion key, in the co-ordinate system (“

    Base, “

    Tool”

    , “

    Joints”

    ) selected using the selection means,position teaching means, able to be operated manually to store a position reached by a predefined point (TCP) of the tool as a result of a motion of the apparatus,wherein the terminal further comprises additional motion control means able to be operated manually instead of the first motion control means, to provide the control unit with a respective signal for controlling the apparatus aimed at causing a displacement of the predefined point (TCP) of the tool relative to a previously set reference point, wherethe position of the reference point is capable of being modified,the terminal comprises means for modifying the position of the reference point,the signal for controlling the apparatus generated as a result of the operation of the additional motion control means, is independent from the co-ordinate system (“

    Base, “

    Tool”

    , “

    Joints”

    ) selected through the selection means.

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